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refactor(tecs): name the fast-descend ramp-out altitude margin constant

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The 5 m offset in _setFastDescend was a magic number with no indication
of its purpose. Extract it as FAST_DESCEND_RAMP_DOWN_MARGIN alongside
the existing FAST_DESCEND_RAMP_UP_TIME constant. No behaviour change.

Signed-off-by: Balduin <balduin@auterion.com>
This commit is contained in:
Balduin
2026-04-23 09:42:53 +02:00
parent 6b3effc1e7
commit b986f9203b
2 changed files with 2 additions and 2 deletions
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src/lib/tecs/TECS.cpp
+1 -2
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@@ -805,8 +805,7 @@ void TECS::_setFastDescend(const float alt_setpoint, const float alt)
static_cast<float>(FAST_DESCEND_RAMP_UP_TIME)), 0.f, 1.f);
} else if (PX4_ISFINITE(alt_setpoint) && (_fast_descend > FLT_EPSILON) && (_fast_descend_alt_err > FLT_EPSILON)) {
// Were in fast descend, scale it down. up until 5m above target altitude
_fast_descend = constrain((alt - alt_setpoint - 5.f) / _fast_descend_alt_err, 0.f, 1.f);
_fast_descend = constrain((alt - alt_setpoint - FAST_DESCEND_RAMP_DOWN_MARGIN) / _fast_descend_alt_err, 0.f, 1.f);
_enabled_fast_descend_timestamp = 0U;
} else {
src/lib/tecs/TECS.hpp
+1
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@@ -704,6 +704,7 @@ private:
static constexpr float DT_MIN = 0.001f; ///< minimum allowed value of _dt (sec)
static constexpr float DT_MAX = 1.0f; ///< max value of _dt allowed before a filter state reset is performed (sec)
static constexpr hrt_abstime FAST_DESCEND_RAMP_UP_TIME = 2_s; ///< Ramp up time until fast descend is fully engaged
static constexpr float FAST_DESCEND_RAMP_DOWN_MARGIN = 5.f; ///< Altitude above setpoint [m] at which fast-descend ramp-out reaches zero
DebugOutput _debug_status{};